We have been successfully flying 4-6 Crazyflie 2.0's using the crazyflie-ros package (https://github.com/whoenig/crazyflie_ros) for research and demo purposes the last year. Recently I have been trying to increase the number up to 10+ UAVs, but I am having issues with both general decreased flight performance and random communication drops that lead to instant crashes. Does anyone have experience in using the ROS-package for controlling swarms of Crazyflies and could share some info for a successful radio configuration (channels, UAVs per radio, bandwidths, positioning of the radios, launch files etc.)? We are simply setting up the launch file as
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<arg name="uri1" default="radio://2/80/1M/E7E7E7E703" />
<arg name="frame" default="crazyflie3/crazyflie3" />
<arg name="x" default="0" />
<arg name="y" default="4" />
<arg name="z" default="0.5" />
<group ns="crazyflie3">
<include file="$(find crazyflie_driver)/launch/crazyflie_add.launch">
<arg name="uri" value="$(arg uri1)" />
<arg name="tf_prefix" value="crazyflie3" />
<arg name="enable_logging" value="False" />
</include>
</group>